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-rw-r--r--libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CompoundShape.cs366
1 files changed, 183 insertions, 183 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CompoundShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CompoundShape.cs
index 08aeec8..bd13ffd 100644
--- a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CompoundShape.cs
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CompoundShape.cs
@@ -1,183 +1,183 @@
1/* 1/*
2 Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru 2 Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
3 Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com 3 Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
4 4
5 This software is provided 'as-is', without any express or implied 5 This software is provided 'as-is', without any express or implied
6 warranty. In no event will the authors be held liable for any damages 6 warranty. In no event will the authors be held liable for any damages
7 arising from the use of this software. 7 arising from the use of this software.
8 8
9 Permission is granted to anyone to use this software for any purpose, 9 Permission is granted to anyone to use this software for any purpose,
10 including commercial applications, and to alter it and redistribute it 10 including commercial applications, and to alter it and redistribute it
11 freely, subject to the following restrictions: 11 freely, subject to the following restrictions:
12 12
13 1. The origin of this software must not be misrepresented; you must not 13 1. The origin of this software must not be misrepresented; you must not
14 claim that you wrote the original software. If you use this software 14 claim that you wrote the original software. If you use this software
15 in a product, an acknowledgment in the product documentation would be 15 in a product, an acknowledgment in the product documentation would be
16 appreciated but is not required. 16 appreciated but is not required.
17 2. Altered source versions must be plainly marked as such, and must not be 17 2. Altered source versions must be plainly marked as such, and must not be
18 misrepresented as being the original software. 18 misrepresented as being the original software.
19 3. This notice may not be removed or altered from any source distribution. 19 3. This notice may not be removed or altered from any source distribution.
20*/ 20*/
21 21
22using System; 22using System;
23using System.Collections.Generic; 23using System.Collections.Generic;
24using System.Text; 24using System.Text;
25using MonoXnaCompactMaths; 25using MonoXnaCompactMaths;
26 26
27namespace XnaDevRu.BulletX 27namespace XnaDevRu.BulletX
28{ 28{
29 /// <summary> 29 /// <summary>
30 /// CompoundShape allows to store multiple other CollisionShapes 30 /// CompoundShape allows to store multiple other CollisionShapes
31 /// This allows for concave collision objects. This is more general then the Static Concave TriangleMeshShape. 31 /// This allows for concave collision objects. This is more general then the Static Concave TriangleMeshShape.
32 /// </summary> 32 /// </summary>
33 public class CompoundShape : CollisionShape 33 public class CompoundShape : CollisionShape
34 { 34 {
35 private List<Matrix> _childTransforms = new List<Matrix>(); 35 private List<Matrix> _childTransforms = new List<Matrix>();
36 private List<CollisionShape> _childShapes = new List<CollisionShape>(); 36 private List<CollisionShape> _childShapes = new List<CollisionShape>();
37 private Vector3 _localAabbMin; 37 private Vector3 _localAabbMin;
38 private Vector3 _localAabbMax; 38 private Vector3 _localAabbMax;
39 39
40 private OptimizedBvh _aabbTree; 40 private OptimizedBvh _aabbTree;
41 private float _collisionMargin; 41 private float _collisionMargin;
42 private Vector3 _localScaling; 42 private Vector3 _localScaling;
43 43
44 public CompoundShape() 44 public CompoundShape()
45 { 45 {
46 _localAabbMin = new Vector3(1e30f, 1e30f, 1e30f); 46 _localAabbMin = new Vector3(1e30f, 1e30f, 1e30f);
47 _localAabbMax = new Vector3(-1e30f, -1e30f, -1e30f); 47 _localAabbMax = new Vector3(-1e30f, -1e30f, -1e30f);
48 _aabbTree = null; 48 _aabbTree = null;
49 _collisionMargin = 0f; 49 _collisionMargin = 0f;
50 _localScaling = new Vector3(1f, 1f, 1f); 50 _localScaling = new Vector3(1f, 1f, 1f);
51 } 51 }
52 52
53 public override void GetAabb(Matrix t, out Vector3 aabbMin, out Vector3 aabbMax) 53 public override void GetAabb(Matrix t, out Vector3 aabbMin, out Vector3 aabbMax)
54 { 54 {
55 Vector3 localHalfExtents = 0.5f * (_localAabbMax - _localAabbMin); 55 Vector3 localHalfExtents = 0.5f * (_localAabbMax - _localAabbMin);
56 Vector3 localCenter = 0.5f * (_localAabbMax + _localAabbMin); 56 Vector3 localCenter = 0.5f * (_localAabbMax + _localAabbMin);
57 57
58 Matrix abs_b = MathHelper.Absolute(t); 58 Matrix abs_b = MathHelper.Absolute(t);
59 59
60 Vector3 row1 = new Vector3(abs_b.M11, abs_b.M12, abs_b.M13); 60 Vector3 row1 = new Vector3(abs_b.M11, abs_b.M12, abs_b.M13);
61 Vector3 row2 = new Vector3(abs_b.M21, abs_b.M22, abs_b.M23); 61 Vector3 row2 = new Vector3(abs_b.M21, abs_b.M22, abs_b.M23);
62 Vector3 row3 = new Vector3(abs_b.M31, abs_b.M32, abs_b.M33); 62 Vector3 row3 = new Vector3(abs_b.M31, abs_b.M32, abs_b.M33);
63 63
64 Vector3 center = new Vector3(Vector3.Dot(row1, localCenter) + t.Translation.X, 64 Vector3 center = new Vector3(Vector3.Dot(row1, localCenter) + t.Translation.X,
65 Vector3.Dot(row2, localCenter) + t.Translation.Y, 65 Vector3.Dot(row2, localCenter) + t.Translation.Y,
66 Vector3.Dot(row3, localCenter) + t.Translation.Z); 66 Vector3.Dot(row3, localCenter) + t.Translation.Z);
67 67
68 Vector3 extent = new Vector3(Vector3.Dot(row1, localHalfExtents), 68 Vector3 extent = new Vector3(Vector3.Dot(row1, localHalfExtents),
69 Vector3.Dot(row2, localHalfExtents), 69 Vector3.Dot(row2, localHalfExtents),
70 Vector3.Dot(row3, localHalfExtents)); 70 Vector3.Dot(row3, localHalfExtents));
71 71
72 aabbMin = center - extent; 72 aabbMin = center - extent;
73 aabbMax = center + extent; 73 aabbMax = center + extent;
74 } 74 }
75 75
76 public override BroadphaseNativeTypes ShapeType 76 public override BroadphaseNativeTypes ShapeType
77 { 77 {
78 get 78 get
79 { 79 {
80 return BroadphaseNativeTypes.Compound; 80 return BroadphaseNativeTypes.Compound;
81 } 81 }
82 } 82 }
83 83
84 public override Vector3 LocalScaling 84 public override Vector3 LocalScaling
85 { 85 {
86 get 86 get
87 { 87 {
88 return _localScaling; 88 return _localScaling;
89 } 89 }
90 set 90 set
91 { 91 {
92 _localScaling = value; 92 _localScaling = value;
93 } 93 }
94 } 94 }
95 95
96 public override string Name 96 public override string Name
97 { 97 {
98 get 98 get
99 { 99 {
100 return "Compound"; 100 return "Compound";
101 } 101 }
102 } 102 }
103 103
104 public override float Margin 104 public override float Margin
105 { 105 {
106 get 106 get
107 { 107 {
108 return _collisionMargin; 108 return _collisionMargin;
109 } 109 }
110 set 110 set
111 { 111 {
112 _collisionMargin = value; 112 _collisionMargin = value;
113 } 113 }
114 } 114 }
115 115
116 public int ChildShapeCount { get { return _childShapes.Count; } } 116 public int ChildShapeCount { get { return _childShapes.Count; } }
117 //this is optional, but should make collision queries faster, by culling non-overlapping nodes 117 //this is optional, but should make collision queries faster, by culling non-overlapping nodes
118 public OptimizedBvh AabbTree { get { return _aabbTree; } } 118 public OptimizedBvh AabbTree { get { return _aabbTree; } }
119 119
120 public CollisionShape GetChildShape(int index) 120 public CollisionShape GetChildShape(int index)
121 { 121 {
122 return _childShapes[index]; 122 return _childShapes[index];
123 } 123 }
124 124
125 public Matrix GetChildTransform(int index) 125 public Matrix GetChildTransform(int index)
126 { 126 {
127 return _childTransforms[index]; 127 return _childTransforms[index];
128 } 128 }
129 129
130 public override void CalculateLocalInertia(float mass, out Vector3 inertia) 130 public override void CalculateLocalInertia(float mass, out Vector3 inertia)
131 { 131 {
132 //approximation: take the inertia from the aabb for now 132 //approximation: take the inertia from the aabb for now
133 Matrix ident = Matrix.Identity; 133 Matrix ident = Matrix.Identity;
134 Vector3 aabbMin, aabbMax; 134 Vector3 aabbMin, aabbMax;
135 GetAabb(ident, out aabbMin, out aabbMax); 135 GetAabb(ident, out aabbMin, out aabbMax);
136 136
137 Vector3 halfExtents = (aabbMax - aabbMin) * 0.5f; 137 Vector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
138 138
139 float lx = 2f * (halfExtents.X); 139 float lx = 2f * (halfExtents.X);
140 float ly = 2f * (halfExtents.Y); 140 float ly = 2f * (halfExtents.Y);
141 float lz = 2f * (halfExtents.Z); 141 float lz = 2f * (halfExtents.Z);
142 142
143 inertia = new Vector3(); 143 inertia = new Vector3();
144 inertia.X = mass / (12.0f) * (ly * ly + lz * lz); 144 inertia.X = mass / (12.0f) * (ly * ly + lz * lz);
145 inertia.Y = mass / (12.0f) * (lx * lx + lz * lz); 145 inertia.Y = mass / (12.0f) * (lx * lx + lz * lz);
146 inertia.Z = mass / (12.0f) * (lx * lx + ly * ly); 146 inertia.Z = mass / (12.0f) * (lx * lx + ly * ly);
147 } 147 }
148 148
149 public void AddChildShape(Matrix localTransform, CollisionShape shape) 149 public void AddChildShape(Matrix localTransform, CollisionShape shape)
150 { 150 {
151 _childTransforms.Add(localTransform); 151 _childTransforms.Add(localTransform);
152 _childShapes.Add(shape); 152 _childShapes.Add(shape);
153 153
154 //extend the local aabbMin/aabbMax 154 //extend the local aabbMin/aabbMax
155 Vector3 localAabbMin, localAabbMax; 155 Vector3 localAabbMin, localAabbMax;
156 shape.GetAabb(localTransform, out localAabbMin, out localAabbMax); 156 shape.GetAabb(localTransform, out localAabbMin, out localAabbMax);
157 if (_localAabbMin.X > localAabbMin.X) 157 if (_localAabbMin.X > localAabbMin.X)
158 { 158 {
159 _localAabbMin.X = localAabbMin.X; 159 _localAabbMin.X = localAabbMin.X;
160 } 160 }
161 if (_localAabbMax.X < localAabbMax.X) 161 if (_localAabbMax.X < localAabbMax.X)
162 { 162 {
163 _localAabbMax.X = localAabbMax.X; 163 _localAabbMax.X = localAabbMax.X;
164 } 164 }
165 if (_localAabbMin.Y > localAabbMin.Y) 165 if (_localAabbMin.Y > localAabbMin.Y)
166 { 166 {
167 _localAabbMin.Y = localAabbMin.Y; 167 _localAabbMin.Y = localAabbMin.Y;
168 } 168 }
169 if (_localAabbMax.Y < localAabbMax.Y) 169 if (_localAabbMax.Y < localAabbMax.Y)
170 { 170 {
171 _localAabbMax.Y = localAabbMax.Y; 171 _localAabbMax.Y = localAabbMax.Y;
172 } 172 }
173 if (_localAabbMin.Z > localAabbMin.Z) 173 if (_localAabbMin.Z > localAabbMin.Z)
174 { 174 {
175 _localAabbMin.Z = localAabbMin.Z; 175 _localAabbMin.Z = localAabbMin.Z;
176 } 176 }
177 if (_localAabbMax.Z < localAabbMax.Z) 177 if (_localAabbMax.Z < localAabbMax.Z)
178 { 178 {
179 _localAabbMax.Z = localAabbMax.Z; 179 _localAabbMax.Z = localAabbMax.Z;
180 } 180 }
181 } 181 }
182 } 182 }
183} 183}
generated by cgit v1.1 at 2024-09-16 18:28:06 +0000